CN201615316U - Pipeline inner wall crawling device - Google Patents
Pipeline inner wall crawling device Download PDFInfo
- Publication number
- CN201615316U CN201615316U CN2010201177294U CN201020117729U CN201615316U CN 201615316 U CN201615316 U CN 201615316U CN 2010201177294 U CN2010201177294 U CN 2010201177294U CN 201020117729 U CN201020117729 U CN 201020117729U CN 201615316 U CN201615316 U CN 201615316U
- Authority
- CN
- China
- Prior art keywords
- crawling
- creeping
- central shaft
- duct
- walls
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
Abstract
The utility model discloses a pipeline inner wall crawling device, and particularly relates to a pipeline inner wall crawling device suitable for a burdened user to crawl on abrupt scopes or in perpendicular pipelines in a bidirectional manner. The pipeline inner wall crawling device comprises two independent crawling mechanisms and an intermediate connecting mechanism, wherein the two independent crawling mechanisms are integrally axially connected via the intermediate connecting mechanism, the independent crawling mechanisms can extend and retract radially, and the intermediate connecting mechanism can lead the two independent crawling mechanisms to extend and retract axially. The inner wall of a pipeline can be exerted with pressure by aid of radial extending and retracting of the crawling mechanisms, thereby being capable of leading the user to smoothly realize bidirectional burdened crawling on slopes and inside perpendicular pipelines. The pipeline inner wall crawling device can be applicable to inspection and sewage removing inside pipelines on various occasions.
Description
Technical field
The utility model relates to a kind of inner-walls of duct crawling device, especially a kind of inner-walls of duct crawling device that is suitable for heavy burden bidirectional creeping in abrupt slope or vertical pipeline.
Background technique
At present existing inner-walls of duct crawling machinery devices realization heavy burden abrupt slopes are upwards creeped very difficult, more can not bear a heavy burden and creep in vertical pipe.Though the crawling machinery device can upwards be creeped in the pipeline that has, but when creeping, serious blocking pipe, thereby cause in the pipeline crawling machinery device to detect or when removing contamination work creeping, pipeline must stop the work of conveying gas or liquid, the work of can't under pipeline normally transport the situation of gas or liquid, creeping or remove contamination, give conveyance conduit inside detection, remove contamination and normal transportation work brings many inconvenience.
The model utility content
Technical problem to be solved in the utility model is: a kind of inner-walls of duct heavy burden bidirectional creeping device is provided.
The technological scheme that solves the problems of the technologies described above is: the inner-walls of duct crawling device comprises two independently crawling mechanisms and vertically two crawling mechanisms are connected into the intermediate connecting mechanism of an integral body; Described independent crawling mechanism can radially stretch; Described intermediate connecting mechanism can make two machines of independently creeping flexible vertically.
Further be that described independent crawling mechanism is made of at least three pieces of creeping that are distributed on vertically on the outer circumference of the machine central shaft of creeping; These a plurality of pieces of creeping are supported on the central shaft by at least one group of constant tilt support body assembly and at least one group of active tilt support body assembly, and described constant tilt support body assembly is opposite with the true dip direction of described active tilt support body assembly; Thereby described active supporting piece assembly can slide vertically and make the piece of creeping radially flexible.
Further be, described constant tilt support body assembly is made up of strut and securing supports pedestal, and an end of this strut is connected on the described crawling mechanism central shaft versatilely by the securing supports pedestal, and the other end is supported on the piece of creeping versatilely; Described constant tilt support body assembly is adjacent vertically to be furnished with two groups, the strut of these two groups of securing supports assemblies be connected creep piece and with the central shaft that is connected between the parallelogram structure; Described active tilt support body assembly is made up of strut and active supporting piece pedestal, one end of this strut is connected on the described crawling mechanism central shaft versatilely by the active supporting piece pedestal, the other end is supported on the described piece of creeping versatilely, and described active supporting piece pedestal can move on this crawling mechanism central shaft vertically; Institute's active tilt support body assembly is arranged as one group vertically.
Further be, the described piece of creeping is made of block rubber and block rubber mounting base, and described block rubber is fixed on the block rubber mounting base.
Further be that described crawling mechanism central shaft is provided with the linear electric motor of creeping; The output terminal of these linear electric motor of creeping is connected with screw mandrel, and the other end is fixed on the central shaft that is connected with constant tilt support body assembly one end vertically; The described central shaft that is connected with an end of active supporting piece assembly is a hollow shaft, is provided with the nut with described screw mandrel coupling in this hollow axis hole; Describedly be connected and fixed the central shaft of support body assembly, the screw mandrel and the central shaft that is connected the active supporting piece assembly of creep linear electric motor and connection thereof constitutes described crawling mechanism central shaft.
Further be that described intermediate connecting mechanism is linear electric motor in the middle of; The output terminal of these centre linear electric motor is connected with middle straight motor screw mandrel, and the other end is fixed on the central shaft of a crawling mechanism in described two crawling mechanisms vertically; Be provided with nut in the hollow axis hole that is connected with the active supporting piece assembly of described another crawling mechanism with described middle straight motor screw mandrel coupling.
Further be, the axle head that is provided with nut one end in described two independent crawling mechanisms also is provided with flange plate, axle between this flange plate and the active supporting piece assembly is provided with spiral compression spring, this spiral compression spring is enclosed within on the described axle, the one end is connected with described flange plate, and the other end is connected with the active supporting piece assembly.
Further be that the arranged outside of movable supporting assembly has position limit switch on the described central shaft that is connected with the active supporting piece assembly.
Further be, on the described crawling mechanism central shaft control circuit board be installed, the guide line of described each linear electric motor, position limit switch is connected with control circuit board.
Further be on the described control circuit board power supply to be installed.
The beneficial effects of the utility model are: can be at the crawling mechanism of radial contraction by two, to carry out inner-walls of duct when creeping, allow the piece of creeping of a crawling mechanism radially protruding and bestow pressure and be pressed on the inner-walls of duct earlier, the piece of creeping of another crawling mechanism radially inwardly shrinks, break away from inner-walls of duct, stretch out or certain distance of withdrawing by making the flexible vertically intermediary agency of crawling mechanism that crawling mechanism that breaks away from inner-walls of duct again to the direction band that will advance, allow the piece of creeping of this crawling mechanism of stretching out or withdrawing radially protruding and bestow pressure and be pressed on the inner-walls of duct again, then promptly the piece of creeping of that machine of creeping of inner-walls of duct radially inwardly shrinks the disengaging inner-walls of duct, intermediary agency shrinks or stretches out to the direction that will advance again afterwards, hauling this crawling mechanism advances and just can realize creeping in the pipe, because crawling mechanism utilizes the triangle lever principle to amplify and creeps piece to the inner-walls of duct applied pressure, utilize parallelogram principle to make crawling device coaxial again, thereby can realize bidirectional creeping and heavy burden bidirectional creeping in abrupt slope and the vertical pipe very smoothly with the pipeline axis.
Description of drawings
Fig. 1 is the structural representation of the utility model inner-walls of duct crawling device.
Be labeled as among the figure: the piece 1 of creeping, constant tilt support body assembly 2, fixed support bar 21, active tilt support body assembly 3, movable support rod 31, crawling mechanism central shaft 4, the linear electric motor 5 of creeping, screw mandrel 6, middle linear electric motor 7, middle linear electric motor screw mandrel 8, control circuit board 9, guide line 10, spiral compression spring 11, position limit switch 12, securing supports package base 13, active supporting piece package base 14, power supply 15, block rubber 16, block rubber mounting base 17.
Embodiment
Engaging accompanying drawing below is further described the utility model.
As shown in Figure 1, a kind of inner-walls of duct crawling device that is suitable for heavy burden bidirectional creeping in abrupt slope or vertical pipeline that is that the utility model provides, it comprises two independently crawling mechanisms and vertically two crawling mechanisms are connected into the intermediate connecting mechanism of an integral body; Described independent crawling mechanism can radially stretch; Described intermediate connecting mechanism can make two machines of independently creeping flexible vertically.Its working procedure is as follows, can be by two at the crawling mechanism of radial contraction, to carry out inner-walls of duct when creeping, allow crawling mechanism radially protruding and bestow pressure and be pressed on the inner-walls of duct earlier, another crawling mechanism radially inwardly shrinks, break away from inner-walls of duct, stretch out certain distance by making the flexible vertically intermediary agency of crawling mechanism that crawling mechanism that breaks away from inner-walls of duct again to the direction band that will advance, allow this crawling mechanism of stretching out radially protruding and bestow pressure and be pressed on the inner-walls of duct again, then promptly that machine of creeping of inner-walls of duct radially inwardly shrinks the disengaging inner-walls of duct, intermediary agency shrinks to the direction that will advance again afterwards, hauling this crawling mechanism advances and just can realize creeping in the pipe, because crawling mechanism is radially protruding and inner-walls of duct is applied with pressure, can very successfully realize bidirectional creeping and heavy burden bidirectional creeping in abrupt slope and the vertical pipe.
The described radially flexible structure of crawling mechanism that makes has a variety of forms, be connected to same central shaft upper support such as an end of the metallic rod that is slightly larger than the pipeline radius with many length and play the piece of creeping that quantity equates, prop an adjustable lever again in the appropriate location of each root metallic rod, make the structure of total shape such as yunna spiraea, the pulling adjustable lever can be realized crawling mechanism adjusting radially, but described structural type has a lot of shortcomings, quite bothers as structural instability, working process etc.The radially flexible structure of crawling mechanism that makes that the utility model adopts is that described independent crawling mechanism is made of at least three pieces 1 of creeping that are distributed on vertically on the outer circumference of crawling mechanism central shaft; These a plurality of pieces 1 of creeping are supported on the central shaft by at least one group of constant tilt support body assembly 2 and at least one group of active tilt support body assembly 3, and described constant tilt support body assembly 2 is opposite with the true dip direction of described active tilt support body assembly 3; Thereby described active supporting piece assembly 3 can slide vertically and make the piece 1 of creeping radially flexible.Adopt the described radially flexible structural type of crawling mechanism that makes, will stablize manyly with respect to the structural type of umbrella, manufacture process is also fairly simple; But, if described constant tilt support body assembly 2 has only one group respectively with active tilt support body assembly 3, still unstable on the structure, when inner-walls of duct is exerted pressure, the piece 1 of creeping contacts unstable with inner-walls of duct, skid easily, particularly all the more so when heavy burden is creeped, in order to make structure more stable, the piece 1 of creeping is unlikely to skid in crawling process, described constant tilt support body assembly 2 is made up of fixed support bar 21 and securing supports pedestal 13, one end of this fixed support bar 21 is connected on the described crawling mechanism central shaft 4 versatilely by securing supports pedestal 13, and the other end is supported on the piece 1 of creeping versatilely; Described constant tilt support body assembly 2 is adjacent vertically to be furnished with two groups, the fixed support bar 21 of these two groups of securing supports assemblies 2 be connected creep piece 1 and with the central shaft that is connected between the parallelogram structure; Described active tilt support body assembly 3 is made up of movable support rod 31 and active supporting piece pedestal 14, one end of this movable support rod 31 is connected on the described crawling mechanism central shaft 4 versatilely by active supporting piece pedestal 14, the other end is supported on the described piece 1 of creeping versatilely, and described active supporting piece pedestal 14 can move on this central shaft vertically; Institute's active tilt support body assembly 3 is furnished with one group vertically.Adopt described structure, utilized the principle of parallel four limit row to stablize the piece of creeping, guaranteed that the described piece of creeping contacts with the good of inner-walls of duct, can not skid in the crawling process in whole crawling process, thereby make the structure quite stable, realize that like a cork the heavy burden in abrupt slope, the vertical pipe is creeped.Further, the described piece of creeping can be a metal material material, it also can be wood materials, but frictional force maximum in order to adhere to, the situation that reduces to skid, what the utility model adopted is block rubber 16, simultaneously for easy for installation, realization creep piece 1 and fixed support bar 21, the flexible connection of movable support rod 31, also be provided with block rubber mounting base 17, block rubber 16 is installed in the block rubber mounting base 17, block rubber mounting base 17 flexibly connects with fixed support bar 21 and movable support rod 31, thereby guaranteed that active supporting piece assembly 3 piece 1 axial external surface of creeping in the telescopic process vertically well contacts with inner-walls of duct all the time, improves heavy burden ability or vertical crawling ability.
The above-mentioned radially flexible structure of crawling mechanism that makes is used manual adjustment when adjusting, use very inconveniently, and in order to reduce labor intensity, crawling mechanism central shaft 4 described in the utility model is provided with the linear electric motor 5 of creeping; This output terminal of creeping linear electric motor 5 is connected with screw mandrel 6, and the other end is fixed on the central shaft that is connected with constant tilt support body assembly 2 one ends vertically; The described central shaft that is connected with active supporting piece assembly 3 one ends is a hollow shaft, is provided with the nut with described screw mandrel 6 couplings in this hollow axis hole; The described central shaft that is connected and fixed support body assembly, creep linear electric motor 5 and the screw mandrel 6 that connects constitutes described crawling mechanism central shaft 4 with the central shaft that is connected active supporting piece assembly 3.Adopt described structure, when needs are exerted pressure to inner-walls of duct, only the described linear electric motor 5 of creeping of need startup are the distance between can regulate active tilt support body assembly 3 and the securing supports assembly 2, when needs make the piece 1 of creeping break away from inner-walls of duct, it is same that only to need to start the linear electric motor 5 of creeping be distance between can regulate active tilt support body assembly 3 and the securing supports assembly 2, do not need to operate manually, thereby realize automation easily.Described screw mandrel 6 can be the screw mandrel 6 that linear electric motor 5 carry of creeping, also can be to adopt the homemade screw mandrel 6 in back, can realize distance between adjusting active tilt support body assembly 3 and the securing supports assembly 2 as long as be connected with screw mandrel 6 at linear electric motor 5 output terminals of creeping.
Realize the creep action of crawling device in pipeline, the intermediate connecting mechanism that two crawling mechanisms are contracted along shaft extension must be arranged, described intermediate connecting mechanism can be an independently flexible vertically mechanism, this extending means can be manual also can be electronic, then two crawling mechanisms are connected with intermediate connecting mechanism vertically and get final product, but can make whole device length bigger like this, if adopt manual structure also to be not easy to realize automation, in order to make whole apparatus structure compactness be convenient to realize automation again, intermediate connecting mechanism described in the utility model is linear electric motor 7 in the middle of; The output terminal of these centre linear electric motor 7 is connected with middle straight motor screw mandrel 8, and the other end is fixed on the central shaft 4 of a crawling mechanism in described two crawling mechanisms vertically; Be provided with nut in the hollow axis hole that is connected with active supporting piece assembly 3 of described another crawling mechanism with described middle straight motor screw mandrel 8 couplings.Adopt described structure, the shortening that the length of whole device is tried one's best, structure is compact more, stretch when creeping, linear electric motor 7 in the middle of only needing to start, middle linear electric motor screw mandrel 8 is joined with corresponding nut get final product, linear electric motor 7 also are convenient to realize automation in the middle of adopting, and have reduced labor intensity of operating personnel.Equally, described middle straight motor screw mandrel 8 can be the middle straight motor screw mandrel 8 that middle linear electric motor 7 carry, also can be to adopt the homemade middle straight motor screw mandrel 8 in back, can realize making middle linear electric motor screw mandrel 8 to join with corresponding nut as long as be connected with middle straight motor screw mandrel 8 at middle linear electric motor 7 output terminals.
Creep linear electric motor 5 when making that the piece 1 of creeping is radially protruding exerts pressure to inner-walls of duct in startup, because entire mechanism can't be observed in pipeline, after the piece 1 of creeping compresses with inner-walls of duct, motor also might work on, thereby damage equipment, for this kind situation there being a buffering, the impaired frequency and the extent of damage of reduction equipment, the axle head that is provided with nut one end in described two independent crawling mechanisms also is provided with flange plate, axle between this flange plate and the active supporting piece assembly 3 is provided with spiral compression spring 11, this spiral compression spring is enclosed within on the described axle, the one end is connected with described flange plate, and the other end is connected with active supporting piece assembly 3.After the piece 1 of creeping compressed inner-walls of duct, the linear electric motor 4 of creeping worked on like this, pulling hollow center axle moves, thereby stretching spiral compression spring 9 has cushioned the directly stressed and possibility damaged of active supporting piece group.For after the 1 pair of inner-walls of duct applied pressure of piece of creeping reaches certain value, the linear electric motor 5 of creeping can be cut off the electricity supply automatically and be quit work, and the arranged outside of movable supporting assembly 3 has position limit switch 12 on the described central shaft that is connected with active supporting piece assembly 3.After the piece 1 of creeping compresses inner-walls of duct; the linear electric motor 5 of creeping work on; pulling hollow center axle moves; thereby stretching spiral compression spring 11; active supporting piece assembly 3 is outwards moved, arrive the position that position limit switch 12 is installed and continue mobile impact stroke switch 12 again, cut off the electricity supply; motor quits work, and protects equipment not to be subject to any damage further.
Be provided with a plurality of linear electric motor in the inner-walls of duct crawling device of the present utility model and be inchworm motor 5, middle linear electric motor 7, also have electric equipment such as position limit switch 12 simultaneously, can carry out outside artificial control to the control of described electric equipment, but the power line that needs is more, the environmental conditions of adding whole table apparatus work is abominable, be easy to damage power line and cause security incident, so on the crawling mechanism central shaft 4 described in the utility model control circuit board 9 is installed, the guide line 10 of described each linear electric motor, position limit switch is connected with control circuit board 9.Adopt described control structure, just can realize automation very easily, reduced also that elastic cable paper is damaged and the possibility that causes security incident.
Inner-walls of duct crawling device of the present utility model goes for the pipeline of various occasions is detected, removes contamination.Employed power supply can be outside common lighting source, it also can be industrial power source, but can not guarantee near the pipeline of removing contamination or detecting that all there is described power supply in each place, in order to make inner-walls of duct crawling device of the present utility model can adapt to various occasions, on described control circuit board 9, power supply 15 is installed, for the linear electric motor 5 of creeping, middle linear electric motor 7 provide electrical source of power, can also realize not having completely external cable line function, guarantee the safety of using further.
Claims (10)
1. inner-walls of duct crawling device is characterized in that: comprise two independently crawling mechanisms and vertically two crawling mechanisms are connected into the intermediate connecting mechanism of an integral body; Described independent crawling mechanism can radially stretch; Described intermediate connecting mechanism can make two machines of independently creeping flexible vertically.
2. inner-walls of duct crawling device according to claim 1 is characterized in that: described independent crawling mechanism is made of at least three pieces of creeping (1) that are distributed on vertically on the outer circumference of crawling mechanism central shaft (4); These a plurality of pieces of creeping (1) are supported on the central shaft by at least one group of constant tilt support body assembly (2) and at least one group of active tilt support body assembly (3), and described constant tilt support body assembly (2) is opposite with the true dip direction of described active tilt support body assembly (3); Described active supporting piece assembly (3) thereby can slide vertically makes the piece of creeping (1) radially flexible.
3. inner-walls of duct crawling device according to claim 2, it is characterized in that: described constant tilt support body assembly (2) is made up of fixed support bar (21) and securing supports pedestal (13), one end of this fixed support bar (21) is connected on the described crawling mechanism central shaft (4) versatilely by securing supports pedestal (13), and the other end is supported on the piece of creeping (1) versatilely; Described constant tilt support body assembly (2) is adjacent vertically to be furnished with two groups, the fixed support bar (21) of these two groups of securing supports assemblies (2) and the piece of creeping (1) that is connected and with the central shaft that is connected between the parallelogram structure; Described active tilt support body assembly (3) is made up of movable support rod (31) and active supporting piece pedestal (14), one end of this movable support rod (31) is connected on the described crawling mechanism central shaft (4) versatilely by active supporting piece pedestal (14), the other end is supported on the described piece of creeping (1) versatilely, and described active supporting piece pedestal (14) can move on this central shaft vertically; Institute's active tilt support body assembly (3) is arranged as one group vertically.
4. inner-walls of duct crawling device according to claim 2 is characterized in that: the described piece of creeping (1) is made of block rubber (16) and block rubber mounting base (17), and described block rubber (16) is fixed on the block rubber mounting base (17).
5. according to each described inner-walls of duct crawling device in the claim 2～4, it is characterized in that: described crawling mechanism central shaft (4) is provided with the linear electric motor of creeping (5); The output terminal of these linear electric motor of creeping (5) is connected with screw mandrel (6), and the other end is fixed on the central shaft that is connected with constant tilt support body assembly (2) one ends vertically; The described central shaft that is connected with an end of active supporting piece assembly (3) is a hollow shaft, is provided with the nut with described screw mandrel (6) coupling in this hollow axis hole; The described screw mandrel (6) that is connected and fixed the central shaft of support body assembly (2), the linear electric motor of creeping (5) and connects constitutes described crawling mechanism central shaft (4) with the central shaft that is connected active supporting piece assembly (3).
6. inner-walls of duct crawling device according to claim 5 is characterized in that: described intermediate connecting mechanism is linear electric motor (7) in the middle of; The output terminal of these centre linear electric motor (7) is connected with middle straight motor screw mandrel (8), and the other end is fixed on the central shaft (4) of a crawling mechanism in described two crawling mechanisms vertically; Be provided with nut in the hollow axis hole that is connected with active supporting piece assembly (3) of described another crawling mechanism with described middle straight motor screw mandrel (8) coupling.
7. inner-walls of duct crawling device according to claim 6, it is characterized in that: the axle head that is provided with nut one end in described two independent crawling mechanisms also is provided with flange plate, axle between this flange plate and the active supporting piece assembly (3) is provided with spiral compression spring (11), this spiral compression spring is enclosed within on the described axle, the one end is connected with described flange plate, and the other end is connected with active supporting piece assembly (3).
8. inner-walls of duct crawling device according to claim 7 is characterized in that: the arranged outside of movable supporting assembly (3) has position limit switch (12) on the described central shaft that is connected with active supporting piece assembly (3).
9. inner-walls of duct crawling device according to claim 8 is characterized in that: control circuit board (9) is installed on the described crawling mechanism central shaft (4), and the guide line (10) of described each linear electric motor, position limit switch is connected with control circuit board (9).
10. inner-walls of duct crawling device according to claim 9 is characterized in that: power supply (15) is installed on the described control circuit board (9).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201177294U CN201615316U (en) | 2010-02-24 | 2010-02-24 | Pipeline inner wall crawling device |
| PCT/CN2011/071098 WO2011103792A1 (en) | 2010-02-24 | 2011-02-18 | Device used for creeping on inner wall of pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201177294U CN201615316U (en) | 2010-02-24 | 2010-02-24 | Pipeline inner wall crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201615316U true CN201615316U (en) | 2010-10-27 |
Family
ID=43001685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201177294U Expired - Fee Related CN201615316U (en) | 2010-02-24 | 2010-02-24 | Pipeline inner wall crawling device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN201615316U (en) |
| WO (1) | WO2011103792A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011103792A1 (en) * | 2010-02-24 | 2011-09-01 | Luo Yong | Device used for creeping on inner wall of pipeline |
| CN104266037A (en) * | 2014-08-11 | 2015-01-07 | 北京航空航天大学 | Telescopic pipeline robot device |
| CN104712879A (en) * | 2015-03-18 | 2015-06-17 | 中国计量学院 | Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter |
| CN109129505A (en) * | 2018-09-07 | 2019-01-04 | 西安交通大学 | A kind of intracavitary robot for overhauling of folded form GIS |
| CN109578745A (en) * | 2017-08-03 | 2019-04-05 | 马鞍山福来伊环保科技有限公司 | A kind of method of creeping of diagonal lift pipe robot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105750279B (en) * | 2016-05-04 | 2018-06-29 | 西南石油大学 | A kind of diameter-variable pipe cleaning plant |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050223825A1 (en) * | 2004-01-16 | 2005-10-13 | Theo Janssen | Method to prevent rotation of caliper tools and other pipeline tools |
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| DE102008027477B4 (en) * | 2007-09-21 | 2013-12-24 | GIB - Gesellschaft für Innovation im Bauwesen mbH | Device for inspecting a duct for pipelines and / or cables |
| CN101463936B (en) * | 2009-01-09 | 2010-08-04 | 哈尔滨工程大学 | Pipe exploring robot based on sliding electromagnet |
| CN201615316U (en) * | 2010-02-24 | 2010-10-27 | 罗勇 | Pipeline inner wall crawling device |
-
2010
- 2010-02-24 CN CN2010201177294U patent/CN201615316U/en not_active Expired - Fee Related
-
2011
- 2011-02-18 WO PCT/CN2011/071098 patent/WO2011103792A1/en active Application Filing
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011103792A1 (en) * | 2010-02-24 | 2011-09-01 | Luo Yong | Device used for creeping on inner wall of pipeline |
| CN104266037A (en) * | 2014-08-11 | 2015-01-07 | 北京航空航天大学 | Telescopic pipeline robot device |
| CN104266037B (en) * | 2014-08-11 | 2016-02-03 | 北京航空航天大学 | Telescopic pipeline robot device |
| CN104712879A (en) * | 2015-03-18 | 2015-06-17 | 中国计量学院 | Inner wall self-walking trolley capable of sustaining large working load and applicable for pipeline with different diameter |
| CN109578745A (en) * | 2017-08-03 | 2019-04-05 | 马鞍山福来伊环保科技有限公司 | A kind of method of creeping of diagonal lift pipe robot |
| CN109578745B (en) * | 2017-08-03 | 2020-08-28 | 马鞍山福来伊环保科技有限公司 | Crawling method of diagonal lifting type pipeline robot |
| CN109129505A (en) * | 2018-09-07 | 2019-01-04 | 西安交通大学 | A kind of intracavitary robot for overhauling of folded form GIS |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011103792A1 (en) | 2011-09-01 |
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| C14 | Grant of patent or utility model | ||
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Owner name: NINGBO GUANKANG INTELLIGENT TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: LUO YONG Effective date: 20150325 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 637000 NANCHONG, SICHUAN PROVINCE TO: 315700 NINGBO, ZHEJIANG PROVINCE |
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Effective date of registration: 20150325 Address after: 315700, No. 58, Jade Road, Chengdong Industrial Park, Ningbo Industrial Zone, Xiangshan, Zhejiang Patentee after: Ningbo pipe Intelligent Technology Co., Ltd. Address before: 637000 Nanchong City, Sichuan province Shunqing District Jin Ji Street No. 12 building 6, No. 13 Patentee before: Luo Yong |
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Granted publication date: 20101027 Termination date: 20190224 |